WO2017154491A1 - Dispositif d'affichage d'image de périphérie de véhicule - Google Patents

Dispositif d'affichage d'image de périphérie de véhicule Download PDF

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Publication number
WO2017154491A1
WO2017154491A1 PCT/JP2017/005534 JP2017005534W WO2017154491A1 WO 2017154491 A1 WO2017154491 A1 WO 2017154491A1 JP 2017005534 W JP2017005534 W JP 2017005534W WO 2017154491 A1 WO2017154491 A1 WO 2017154491A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
host vehicle
image
vehicle
display
Prior art date
Application number
PCT/JP2017/005534
Other languages
English (en)
Japanese (ja)
Inventor
工藤　恒夫
英樹 小馬場
Original Assignee
マツダ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by マツダ株式会社 filed Critical マツダ株式会社
Priority to CN201780003110.5A priority Critical patent/CN107924635A/zh
Priority to US15/761,070 priority patent/US20180265004A1/en
Priority to DE112017000707.0T priority patent/DE112017000707T5/de
Publication of WO2017154491A1 publication Critical patent/WO2017154491A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/50—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

  • the present invention relates to a vehicle periphery image display device that displays an image around the host vehicle on a display screen when the vehicle is parked.
  • a vehicle periphery image display device In a vehicle such as an automobile, an image of the surroundings of the host vehicle captured by the in-vehicle camera is displayed on a display screen such as a display arranged in the passenger compartment, and the driver cannot directly see when the vehicle is parked.
  • a vehicle periphery image display device is provided that can recognize the periphery of the vehicle from an image around the host vehicle displayed on the display screen.
  • the vehicle periphery image display device in addition to displaying an image around the host vehicle on a display screen disposed in the vehicle interior, the position and distance of an obstacle around the host vehicle detected by the in-vehicle radar sensor is displayed. Some of them are known.
  • Patent Literature 1 an image around the host vehicle is displayed on the display screen, and a distance display line indicating the distance between the host vehicle and the obstacle is displayed on the display screen when an obstacle around the host vehicle is detected.
  • the vehicle periphery image display device thus configured is disclosed, and according to this vehicle periphery image display device, the distance of the obstacle can be grasped by the distance display line.
  • an object of the present invention is to provide a vehicle periphery image display device that can accurately display the position and distance of an obstacle without reducing the visibility of the obstacle in an image around the host vehicle. .
  • the vehicle periphery image display device is configured as follows.
  • a first invention of the present application is a vehicle surrounding image display device that displays an image around the host vehicle on a display screen, an imaging unit that captures an image around the host vehicle, and an overhead view of the host vehicle on the display screen.
  • a display control unit for displaying an image and displaying an image around the host vehicle imaged by the imaging unit around an overhead image of the host vehicle; and detecting an obstacle around the host vehicle and the surrounding of the host vehicle
  • An obstacle detection unit that detects an obstacle detection position and a distance between the host vehicle and the obstacle, and the display control unit displays an image of the periphery of the host vehicle around an overhead image of the host vehicle.
  • the obstacle detection position around the host vehicle is closer to the overhead image of the host vehicle than the image around the host vehicle.
  • the vehicle and the obstacle Wherein the displaying the obstacle display unit showing the distance between objects.
  • 2nd invention is the said 1st vehicle periphery image display apparatus
  • the said obstacle display part is an obstacle display line along the circumference
  • the said display control part is The display form of the obstacle display line is changed according to the distance between the host vehicle and the obstacle.
  • the display control unit captures an image captured by the image capturing unit between an overhead view image of the host vehicle and an image around the host vehicle.
  • An image of the periphery of the host vehicle is displayed around the overhead image of the host vehicle so as to have a blind spot region of the image of the periphery of the vehicle, and the obstacle display is performed along the periphery of the overhead image of the host vehicle in the blind spot region. A line is displayed.
  • the display control unit includes the obstacle display line in the overhead image of the host vehicle along the periphery of the overhead image of the host vehicle. Is displayed.
  • the display control unit displays the obstacle according to the distance between the host vehicle and the obstacle.
  • the display form of the obstacle display line is changed by performing at least one of a line type change, a display color change, and a lighting and blinking change.
  • the display control unit changes lighting and blinking of the obstacle display line according to the distance between the host vehicle and the obstacle.
  • the blinking frequency for blinking the obstacle display line is changed according to the distance between the vehicle and the obstacle when blinking the obstacle display line. It is characterized by that.
  • the display control unit is arranged around the overhead image of the host vehicle when the vehicle is parked. It is characterized by displaying surrounding images.
  • the own vehicle when an obstacle around the own vehicle is detected when an image around the own vehicle is displayed around the bird's-eye view image of the own vehicle, the own vehicle is more than the image around the own vehicle.
  • An obstacle display unit indicating the obstacle detection position around the host vehicle and the distance between the host vehicle and the obstacle is displayed on the bird's-eye view image side.
  • the obstacle display unit is not displayed superimposed on the image around the host vehicle, so that the obstacle display unit does not reduce the visibility of the obstacle in the image around the host vehicle. And the distance can be displayed accurately.
  • the driver can be notified of obstacles around the host vehicle accurately using the image around the host vehicle and the obstacle display unit.
  • the obstacle display unit is an obstacle display line along the periphery of the overhead image of the host vehicle, and the obstacle display line is displayed according to the distance between the host vehicle and the obstacle.
  • the display area of the obstacle display lines is compared with the case where a plurality of obstacle display lines are provided toward the outside of the overhead view image of the own vehicle according to the distance between the own vehicle and the obstacle. Can be made compact.
  • the image around the own vehicle is provided around the bird's-eye view image of the own vehicle so that the blind spot area of the image around the own vehicle is between the bird's-eye view image of the own vehicle and the image around the own vehicle.
  • the blind spot area of the image around the host vehicle can be effectively used as the obstacle display unit, and the visibility of the obstacle in the image around the host vehicle is reduced.
  • the obstacle display lines are displayed along the periphery of the overhead view image of the own vehicle in the overhead view image of the own vehicle, thereby improving the visibility of the obstacle in the image around the own vehicle.
  • the effect can be specifically realized without lowering.
  • the obstacle is obtained by performing at least one of changing the line type of the obstacle display line, changing the display color, and changing the lighting and blinking according to the distance between the host vehicle and the obstacle.
  • changing the display form of the object display line the distance between the host vehicle and the obstacle can be displayed relatively easily.
  • the obstacle display when the display form of the obstacle display line is changed by changing the lighting and blinking of the obstacle display line according to the distance between the host vehicle and the obstacle, the obstacle display When the line is blinked, the distance between the own vehicle and the obstacle can be easily recognized by the driver by changing the blinking frequency for blinking the obstacle display line according to the distance between the own vehicle and the obstacle. it can.
  • the seventh invention when the vehicle is parked, an image around the own vehicle is displayed around the overhead image of the own vehicle, so that when the vehicle is parked, the image around the own vehicle and the obstacle display unit are displayed.
  • obstacles around the host vehicle can be accurately notified, and the driver's parking operation can be effectively supported.
  • FIG. 1 is a control system diagram of a vehicle periphery image display device according to an embodiment of the present invention.
  • a vehicle periphery image display device 1 according to an embodiment of the present invention is mounted on a vehicle such as an automobile, and a shift lever range selected by a driver's operation, that is, a P (parking) range, an R (reverse running) range, Range sensor 2 for detecting an N (neutral) range or a D (forward running) range, a camera 3 such as a wide-angle camera as an image pickup unit for picking up an image around the own vehicle, an obstacle around the own vehicle and detecting the obstacle of the own vehicle
  • a radar sensor 4 such as an ultrasonic radar sensor, a vehicle speed sensor 5 for detecting the speed of the vehicle, and an image around the own vehicle are displayed as a detection unit for detecting the obstacle detection position and the distance between the host vehicle and the obstacle.
  • FIG. 2 is a schematic diagram showing the arrangement of cameras and radar sensors of the vehicle periphery image display device.
  • the camera 3 mounted on the vehicle 10 specifically includes a front camera 11 that is disposed in the front part of the vehicle body and captures an image in front of the host vehicle, and a vehicle that is disposed on the right side part of the vehicle body.
  • a right side camera 12 that captures an image on the right side
  • a left side camera 13 that is disposed on the left side of the vehicle and captures an image on the left side of the host vehicle
  • a back that is disposed on the rear of the vehicle and captures an image behind the host vehicle.
  • a camera 14 is disposed on the rear of the vehicle and captures an image behind the host vehicle.
  • the radar sensor 4 mounted on the vehicle 10 is disposed at the right front corner portion of the vehicle body and is disposed at the right front corner sensor 21 for detecting an obstacle around the right front corner portion of the host vehicle and the left front corner portion of the vehicle body.
  • a left rear corner sensor 24 that is disposed at the left rear corner of the vehicle body and detects an obstacle around the left rear corner of the host vehicle; and an obstacle around the front portion of the host vehicle that is disposed at the front of the vehicle body.
  • a front sensor 25 and a back sensor 26 that is disposed at the rear of the vehicle body and detects an obstacle around the rear of the host vehicle, each of the sensors 21 to 26 being an obstacle. Upon detection and it is capable of detecting the distance between the detected position and the host vehicle and the obstacle of the obstacle.
  • the display 7 of the vehicle periphery image display device 1 is incorporated in the vehicle interior in the vicinity of the center of the dash panel of the vehicle body, displays the vehicle course information, and is taken by the back camera 14 when the vehicle is parked. A rear image is displayed.
  • the vehicle periphery image display device 1 also includes a control unit 8 that controls a display 7 and the like.
  • the control unit 8 includes a range sensor 2, a camera 3, a radar sensor 4, a vehicle speed sensor 5, and a radar sensor. Based on a signal input from the switch 6 or the like, display control of an image or the like to be displayed on the display 7 is performed.
  • the control unit 8 includes a microcomputer as a main part.
  • the control unit 8 can also display an overhead view image around the host vehicle and an image around the host vehicle on the display 7 based on the signal from the camera 3, and also based on the signal from the radar sensor 4. Thus, the position and distance of obstacles around the host vehicle can be displayed on the display 7.
  • the control unit 8 displays an image around the host vehicle around the overhead image of the host vehicle when the reverse travel range is detected by the range sensor 2 when the vehicle is parked or the like.
  • the obstacle indicating the obstacle detection position and the distance between the host vehicle and the obstacle on the overhead image side of the host vehicle from the image around the host vehicle Obstacle display control for displaying the display unit is performed.
  • the control unit 8 stores an overhead image of the host vehicle in advance.
  • FIG. 3 is an explanatory diagram for explaining a display of the vehicle periphery image display device according to the first embodiment.
  • the reverse travel range is detected by the range sensor 2
  • two screens are displayed on the left and right on the display 7, and an image behind the host vehicle captured by the back camera 14 is displayed on the right screen 30.
  • an overhead image 41 of the host vehicle is displayed on the left screen 40 and an image 42 around the host vehicle is displayed around the overhead image 41 of the host vehicle.
  • the left screen 40 also includes an overhead image 41 of the host vehicle so that a blind spot area 43 of the image around the host vehicle captured by the camera 3 is provided between the overhead image 41 of the host vehicle and the image 42 around the host vehicle.
  • An image 42 around the host vehicle is displayed in the surroundings, and obstacles along the periphery of the bird's-eye view image 41 of the host vehicle are displayed in the blind spot area 43 on the bird's-eye view image side of the host vehicle.
  • An obstacle display line 45 is displayed as an obstacle display portion indicating the position and distance.
  • the obstacle display line 45 is a right front corner part obstacle display line 45a provided in each of the right front corner part, the left front corner part, the right rear corner part, and the left rear corner part around the overhead image 41 of the host vehicle.
  • Front center part obstacle display line 45e and back center part obstacle display line 45f are provided at the front central portion and the rear central portion around the overhead image 41 of the host vehicle.
  • An obstacle display line corresponding to the position of the obstacle around is displayed.
  • the distance between the host vehicle and the obstacle detected by the radar sensor 4 is displayed by changing the display form of the obstacle display lines 45 (the respective obstacle display lines 45a to 45f). .
  • the obstacle display line 45 can perform at least one of a line type change, a display color change, and a lighting and blinking change according to the distance between the host vehicle and the obstacle.
  • the blinking frequency for blinking the obstacle display line 45 can be changed according to the distance between the host vehicle and the obstacle.
  • Table 1 below shows the display modes of the obstacle display lines 45 displayed on the display 7 of the vehicle periphery image display device according to the first embodiment, which are changed according to the distance between the host vehicle and the obstacle.
  • the front center part obstacle display line 45a, the left front corner part obstacle display line 45b, the right rear corner part obstacle display line 45c, and the left rear corner part obstacle display line 45d are used as corner parts.
  • the object display line 45e is represented as a front center part
  • the back center part obstacle display line 45f is represented as a back center part.
  • the obstacle display line 45 is divided into a short distance, a middle distance, a long distance, and a farthest distance as an obstacle detection area to indicate the distance of the obstacle. ing.
  • the obstacle display line 45 is a long distance when the obstacle detection area is blinking at a frequency of 5 Hz with a solid red line and blinking at a frequency of 2 to 3 Hz with an orange solid line when the obstacle detection area is a short distance. In this case, it is lit with a yellow solid line, and when it is the farthest distance, it is lit with a green solid line.
  • the short distance is set to less than 30 cm
  • the middle distance is set to 30 cm to less than 45 cm
  • the long distance is set to 45 cm to less than 55 cm.
  • the short distance is set to a distance of less than 30 cm
  • the middle distance is set to 30 cm to less than 50 cm
  • the long distance is set to 50 cm to less than 80 cm
  • the farthest distance is set to 80 cm to less than 100 cm. Is set such that the short distance is less than 30 cm, the medium distance is 30 cm or more and less than 50 cm, the long distance is 50 cm or more and less than 80 cm, and the farthest distance is 80 cm or more and less than 150 cm.
  • the corner obstacle display lines 45c and 45d are lit with yellow solid lines according to the positions and distances of the vehicles C1 and C2 (in FIG. 3, the state lit with the yellow solid lines is indicated by hatching).
  • control unit 8 As shown in Table 1, display forms of the obstacle display lines 45 displayed in accordance with the positions and distances of the obstacles around the host vehicle are preset and stored.
  • the control unit 8 also detects that the range sensor 2 detects a range other than the reverse travel range, and the radar sensor switch 6 is pressed by the operator to input an ON signal from the radar sensor switch 6 and the vehicle speed.
  • a predetermined vehicle speed such as 20 km / h
  • an image around the host vehicle is displayed on the display 7 around the overhead image of the host vehicle, and obstacles around the host vehicle are detected.
  • Obstacle display control for displaying the obstacle detection position indicating the obstacle detection position and the distance between the host vehicle and the obstacle on the bird's-eye view image side of the host vehicle than the image around the host vehicle I do.
  • FIG. 4 is a flowchart showing display control of the vehicle periphery image display device.
  • Display control of the vehicle periphery image display device 1 that displays an image around the host vehicle around the overhead image of the host vehicle on the display 7 and displays an obstacle display unit when an obstacle around the host vehicle is detected. It is executed by the control unit 8.
  • step S1 various signals related to the vehicle periphery image display device 1 are read (step S1), and the range sensor 2, the camera 3, the radar sensor 4, and the vehicle speed sensor are read. 5 and the radar sensor switch 6 are read.
  • step S2 it is determined whether or not the vehicle is in the reverse travel range (step S2). If the determination result in step S2 is yes (YES), that is, if the vehicle is in the reverse travel range, an overhead image of the host vehicle is displayed on the display 7 and an image around the host vehicle is displayed around the overhead image of the host vehicle. (Step S3).
  • Obstacle display control for displaying the obstacle display unit is performed (step S4).
  • FIG. 5 is a flowchart showing the obstacle display control.
  • the obstacle display control for displaying the right rear corner portion obstacle display line 45c when an obstacle is detected around the right rear corner portion of the host vehicle based on the signal from the right rear corner sensor 23. Show.
  • step S11 it is determined whether there is an obstacle around the host vehicle (step S11). Based on a signal from the radar sensor 4, specifically, the right rear corner sensor 23, the right side of the host vehicle is determined. It is determined whether there is an obstacle around the rear corner.
  • step S11 determines whether there is an obstacle around the host vehicle. If the determination result in step S11 is yes, that is, if it is determined that there is an obstacle around the host vehicle, the obstacle detection position around the host vehicle is determined based on the signal from the right rear corner sensor 23. The rear corner portion is detected, and an obstacle display line is displayed at the obstacle detection position around the host vehicle according to the distance from the obstacle.
  • step S11 it is determined whether the distance between the host vehicle and the obstacle is less than A1 (step S12), and whether the obstacle detection area is a short distance. Determined. For the periphery of the right rear corner of the host vehicle, 30 cm is used as A1.
  • step S12 If the determination result in step S12 is yes, it is determined that the obstacle exists at a short distance, and the corner obstacle display line 45c corresponding to the detected position of the obstacle blinks with a red solid line at a frequency of 5 Hz and is displayed. (Step S13).
  • step S12 determines whether or not the distance between the host vehicle and the obstacle is less than A2 (step S14), and the obstacle detection area is a medium distance. It is determined whether or not there is. For the periphery of the right rear corner of the host vehicle, 45 cm is used as A2.
  • step S14 If the determination result in step S14 is yes, it is determined that the obstacle is present at a medium distance, and the corner obstacle display line 45c corresponding to the obstacle detection position is blinked with an orange solid line at a frequency of 2 to 3 Hz. It is displayed (step S15).
  • step S16 it is determined whether the distance between the host vehicle and the obstacle is less than A3 (step S16), and whether the obstacle detection area is a long distance. Is determined. For the periphery of the right rear corner of the host vehicle, 55 cm is used as A3.
  • step S16 If the determination result in step S16 is yes, it is determined that the obstacle exists at a long distance, and the corner obstacle display line 45c corresponding to the detected position of the obstacle is lit in yellow and displayed (step S17). ). If the determination result in step S16 is no, it is determined that no obstacle exists at a long distance, and control is performed so that the corner obstacle display line 45c corresponding to the obstacle detection position is not displayed on the display 7. Even when the determination result in step S11 is no, control is performed so that the corner obstacle display line 45c is not displayed on the display 7.
  • the right front corner portion obstacle display line 45a, the left front corner portion obstacle display line 45b, and the left rear corner are similarly performed.
  • the obstacle display control for displaying the front center part obstacle display line 45e and the back center part obstacle display line 45f based on the signals from the front sensor 25 and the back sensor 26, respectively, the determination result in step S16 is no. If it is, it is further determined whether or not the distance between the host vehicle and the obstacle is less than A4, and it is determined whether or not the obstacle detection area is the farthest distance. If it is determined that the obstacle exists, the obstacle display line 45c is displayed except for the obstacle display lines 45e and 45f corresponding to the detected position of the obstacle. This is done in the same way as control.
  • 30 cm, 50 cm, 80 cm, and 100 cm are respectively used as A1, A2, A3, and A4 around the front part of the host vehicle, and 30 cm, 50 cm, and A1, A2, A3, and A4 are used as the rear part around the own vehicle, respectively. 80 cm and 150 cm are used.
  • step S2 When the determination result in step S2 is no, that is, when the vehicle is not in the reverse travel range, it is determined whether or not the radar sensor switch 6 is ON, and the radar sensor switch 6 is pushed by an operation by the operator. It is determined whether or not an ON signal is input from the radar sensor switch 6 (step S5).
  • step S5 determines whether or not the vehicle speed is less than a predetermined vehicle speed V1, for example, less than 20 km / h (step S6). If the determination result in step S6 is yes, that is, if the vehicle speed is less than the predetermined vehicle speed V1, steps S3 and S4 are performed as in the case where the determination result in step S2 is yes.
  • step S6 determines whether the vehicle speed is equal to or higher than the predetermined vehicle speed V1
  • control is performed so that the bird's-eye view image of the own vehicle and the image around the own vehicle are not displayed on the display 7.
  • the determination result in step S5 is NO, that is, when it is determined that the radar sensor switch 6 is not ON but OFF, the overhead image of the own vehicle and the image around the own vehicle are not displayed on the display 7.
  • the obstacle detection position is determined.
  • the obstacle display line 45 is displayed, and the display form of the obstacle display line 45 is changed according to the distance of the obstacle.
  • the vehicle peripheral image display device 1 mounted on a vehicle including an automatic transmission is described.
  • the vehicle peripheral image display device according to the present embodiment is mounted on a vehicle including a manual transmission. It is also possible to do.
  • a shift position sensor that detects the shift position of the change lever is provided instead of the range sensor, and whether the shift position of the change lever is the reverse speed instead of determining whether or not it is the reverse travel range. It is determined whether or not.
  • the vehicle periphery image display device 1 when an obstacle around the host vehicle is detected when the image 42 around the host vehicle is displayed around the overhead image 41 of the host vehicle, An obstacle display line 45 indicating the obstacle detection position and the distance between the host vehicle and the obstacle is displayed on the bird's-eye view image 41 side of the host vehicle rather than the image 42 around the host vehicle.
  • the obstacle display line 45 is not overlapped and displayed on the image 42 around the host vehicle, so that the obstacle display line 45 does not reduce the visibility of the obstacle in the image 42 around the host vehicle.
  • the position and distance of the obstacle can be accurately displayed.
  • the driver can be notified of obstacles around the host vehicle accurately by the image 42 and the obstacle display line 45 around the host vehicle.
  • the obstacle display unit is an obstacle display line 45 along the periphery of the bird's-eye view image 41 of the host vehicle in the present embodiment, and the display form of the obstacle display line 45 according to the distance between the host vehicle and the obstacle.
  • the display area of the obstacle display line 45 is compared with the case where a plurality of obstacle display lines are provided toward the outside of the overhead image of the own vehicle according to the distance between the own vehicle and the obstacle. Can be made compact.
  • the overhead image 41 of the own vehicle has a blind spot area 43 (an area that cannot be captured by the camera 3) of the image around the own vehicle between the overhead image 41 of the own vehicle and the image 42 around the own vehicle.
  • a blind spot area 43 an area that cannot be captured by the camera 3
  • the blind spot area 43 of the image 42 around the host vehicle is effectively used as an obstacle display unit. The effect can be specifically realized without reducing the visibility of the obstacle in the image around the vehicle.
  • the display form of the obstacle display line 45 is changed by changing at least one of the line type of the obstacle display line 45, the display color, and the change of lighting and blinking according to the distance between the host vehicle and the obstacle. By changing the distance, the distance between the host vehicle and the obstacle can be displayed relatively easily.
  • an image around the own vehicle is displayed around the overhead image of the own vehicle, so that when the vehicle is parked, the image around the own vehicle and the obstacle display line 45 are displayed to the driver. Obstacles can be reported accurately, and the driver's parking operation can be effectively supported.
  • the obstacle display lines 45 are displayed in the blind spot area 43 along the periphery of the overhead view image 41 of the host vehicle.
  • the overhead view image 41 of the host vehicle is included in the overhead view image 41 of the host vehicle. It is also possible to display the obstacle display line 45 along the periphery of the and change the display form of the obstacle display line 45 according to the distance of the obstacle.
  • FIG. 6 is an explanatory diagram for explaining a display of the vehicle periphery image display device according to the second embodiment.
  • the vehicle periphery image display device according to the second embodiment is different from the vehicle periphery image display device according to the first embodiment in the display position and display form of the obstacle display unit, and the vehicle periphery image according to the first embodiment.
  • the description of the same configuration as that of the display device is omitted.
  • the control unit 8 displays an image of the periphery of the vehicle on the display 7 around the overhead view image of the vehicle.
  • Obstacle display control is performed to display an obstacle display unit indicating.
  • the display 7 displays an overhead image 41 of the host vehicle on the left screen 40 and around the overhead image 41 of the host vehicle.
  • An image 42 around the host vehicle is displayed, and a blind spot area 43 is provided between the overhead view image 41 of the host vehicle and the image 42 around the host vehicle.
  • the position and distance of the obstacle along the periphery of the own vehicle's overhead image 41 are displayed in the overhead image 41 of the own vehicle around the own vehicle.
  • An obstacle display line 45 ′ as an obstacle display section to be displayed is displayed.
  • the obstacle display line 45 ' is a front right corner part obstacle display line 45a provided at each of the right front corner part, the left front corner part, the right rear corner part, and the left rear corner part around the overhead image 41 of the host vehicle.
  • the obstacle display line 45 ′ is one of the obstacle display lines 45 a ′ to 45 d ′ constituting the obstacle display line 45 ′ when an obstacle around the host vehicle is detected based on the signal from the radar sensor 4.
  • An obstacle display line corresponding to the position of the obstacle around the host vehicle detected by the radar sensor 4 is displayed. Further, the distance between the host vehicle and the obstacle detected by the radar sensor 4 is displayed by changing the display form of the obstacle display lines 45 ′ (each obstacle display lines 45 a ′ to 45 d ′). It has become.
  • Table 2 below shows the display modes of the obstacle display lines 45 ′ displayed on the display 7 of the vehicle periphery image display device according to the second embodiment, which are changed according to the distance between the host vehicle and the obstacles.
  • the right front corner portion obstacle display line 45a ', the left front corner portion obstacle display line 45b', the right rear corner portion obstacle display line 45c ', and the left rear corner portion obstacle display line 45d' are represented as corner portions. ing.
  • the obstacle display line 45 ' is configured to indicate the distance of the obstacle by dividing it into a short distance, a middle distance, and a long distance as an obstacle detection area.
  • the obstacle display line 45 ' is lit with a red solid line when the obstacle detection area is a short distance, is lit with a red broken line when the obstacle detection area is a short distance, and is lit with a green solid line when the obstacle detection area is a long distance. It has become so.
  • the corner obstacle display lines 45a ′, 45b ′, 45c ′, and 45d ′ are set to a distance of a short distance of less than 30 cm, a medium distance of 30 cm to less than 45 cm, and a long distance of 45 cm to less than 55 cm. .
  • the corner obstacle display lines 45c ′ and 45d ′ are lit with red broken lines in accordance with the positions and distances of the vehicles C1 and C2, respectively. ).
  • control unit 8 As shown in Table 2, display forms of obstacle display lines 45 'displayed in accordance with the positions and distances of obstacles around the host vehicle are preset and stored.
  • the radar sensor switch 6 when the vehicle is in the reverse travel range, the radar sensor switch 6 is turned on, and the vehicle speed is a predetermined vehicle speed. If it is less than that, when an obstacle around the host vehicle is detected, the obstacle display line 45 'is displayed according to the detected position of the obstacle, and the obstacle display line 45' is displayed according to the distance of the obstacle. Change the form.
  • the vehicle periphery image display device when an obstacle around the host vehicle is detected, the surroundings of the host vehicle are closer to the overhead image 41 side of the host vehicle than the image 42 around the host vehicle.
  • the obstacle display unit By displaying the obstacle detection line and the obstacle display line 45 'indicating the distance between the own vehicle and the obstacle, the obstacle display unit is not displayed superimposed on the image around the own vehicle. The position and distance of the obstacle can be accurately displayed by the obstacle display unit without reducing the visibility of the obstacle in the image around the host vehicle.
  • the obstacle display unit is an obstacle display line 45 ′ along the periphery of the bird's-eye view image 41 of the host vehicle, and the display form of the obstacle display line according to the distance between the host vehicle and the obstacle.
  • the obstacle display line 45 ′ along the periphery of the overhead view image 41 of the own vehicle in the overhead view image 41 of the own vehicle, the visibility of the obstacle in the image 42 around the own vehicle is reduced. The effect can be specifically realized.
  • the display 7 as a display device is incorporated in the vicinity of the center of the dash panel. It is also possible to use it.
  • the present invention it is possible to accurately display the position and distance of an obstacle without reducing the visibility of the obstacle, which is suitable in the technical field of manufacturing a vehicle such as an automobile. May be used.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un dispositif d'affichage d'image de périphérie de véhicule 1 qui, lorsqu'une image de périphérie de véhicule hôte 42 est affichée autour d'une image d'œil d'oiseau d'un véhicule hôte 41 et qu'un obstacle à la périphérie du véhicule hôte a été détecté, affiche une section d'affichage d'obstacle 45 indiquant la position détectée de l'obstacle à la périphérie du véhicule hôte et la distance entre le véhicule hôte et l'obstacle, ladite section d'affichage d'obstacle étant affichée plus proche de l'image d'œil d'oiseau du véhicule hôte 41 que de l'image de périphérie de véhicule hôte 42.
PCT/JP2017/005534 2016-03-07 2017-02-15 Dispositif d'affichage d'image de périphérie de véhicule WO2017154491A1 (fr)

Priority Applications (3)

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CN201780003110.5A CN107924635A (zh) 2016-03-07 2017-02-15 车辆周边图像显示装置
US15/761,070 US20180265004A1 (en) 2016-03-07 2017-02-15 Vehicle periphery image display device
DE112017000707.0T DE112017000707T5 (de) 2016-03-07 2017-02-15 Vorrichtung zur Anzeige einer Aufnahme der Umgebung eines Fahrzeugs

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JP2016043762A JP6390645B2 (ja) 2016-03-07 2016-03-07 車両周辺画像表示装置
JP2016-043762 2016-03-07

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WO (1) WO2017154491A1 (fr)

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US20180265004A1 (en) 2018-09-20
JP2017162015A (ja) 2017-09-14
CN107924635A (zh) 2018-04-17
DE112017000707T5 (de) 2018-10-31

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